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<div class="title">tsdf_buffer.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_TSDF_BUFFER_STRUCT_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_TSDF_BUFFER_STRUCT_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;cuda_runtime.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">//#include &lt;boost/graph/buffer_concepts.hpp&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keyword">namespace </span>gpu</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  {</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">namespace </span>kinfuLS</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    {</div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">   51</a></span>&#160;          <span class="keyword">struct </span><a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">tsdf_buffer</a></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;          {</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a0330778547cec0b4dd387be54cc394d3">   55</a></span>&#160;            short2* <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a0330778547cec0b4dd387be54cc394d3">tsdf_memory_start</a>;</div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a19fb957590124954134f953f2c317e75">   57</a></span>&#160;            short2* <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a19fb957590124954134f953f2c317e75">tsdf_memory_end</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a45e39db0620e3613adf0e07ea47a3960">   59</a></span>&#160;            short2* <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a45e39db0620e3613adf0e07ea47a3960">tsdf_rolling_buff_origin</a>;   </div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a648311ec445d250adebc4053ba71515f">   61</a></span>&#160;            int3 <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a648311ec445d250adebc4053ba71515f">origin_GRID</a>; </div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a8b71686f1e40d7801a3c60a4dd3e479f">   63</a></span>&#160;            float3 <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a8b71686f1e40d7801a3c60a4dd3e479f">origin_GRID_global</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a8644970214764c5569496ca0e0bb319e">   65</a></span>&#160;            float3 <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a8644970214764c5569496ca0e0bb319e">origin_metric</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a5e300a34d4220de4558ecf3bfa353306">   67</a></span>&#160;            float3 <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a5e300a34d4220de4558ecf3bfa353306">volume_size</a>; <span class="comment">//3.0</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a4aba973b4e0f8a5681283cd17762c39c">   69</a></span>&#160;<span class="comment"></span>            int3 <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a4aba973b4e0f8a5681283cd17762c39c">voxels_size</a>; <span class="comment">//512</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a1ab4b68ea7f165bfe965e5419ae16a57">   72</a></span>&#160;            <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a1ab4b68ea7f165bfe965e5419ae16a57">tsdf_buffer</a> () </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;            {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;              <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a0330778547cec0b4dd387be54cc394d3">tsdf_memory_start</a> = 0;  <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a19fb957590124954134f953f2c317e75">tsdf_memory_end</a> = 0; <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a45e39db0620e3613adf0e07ea47a3960">tsdf_rolling_buff_origin</a> = 0; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;              <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a648311ec445d250adebc4053ba71515f">origin_GRID</a>.x = 0; <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a648311ec445d250adebc4053ba71515f">origin_GRID</a>.y = 0; <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a648311ec445d250adebc4053ba71515f">origin_GRID</a>.z = 0;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;              <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a8b71686f1e40d7801a3c60a4dd3e479f">origin_GRID_global</a>.x = 0.f; <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a8b71686f1e40d7801a3c60a4dd3e479f">origin_GRID_global</a>.y = 0.f; <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a8b71686f1e40d7801a3c60a4dd3e479f">origin_GRID_global</a>.z = 0.f;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;              <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a8644970214764c5569496ca0e0bb319e">origin_metric</a>.x = 0.f; <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a8644970214764c5569496ca0e0bb319e">origin_metric</a>.y = 0.f; <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a8644970214764c5569496ca0e0bb319e">origin_metric</a>.z = 0.f;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;              <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a5e300a34d4220de4558ecf3bfa353306">volume_size</a>.x = 3.f; <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a5e300a34d4220de4558ecf3bfa353306">volume_size</a>.y = 3.f; <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a5e300a34d4220de4558ecf3bfa353306">volume_size</a>.z = 3.f;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;              <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a4aba973b4e0f8a5681283cd17762c39c">voxels_size</a>.x = 512; <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a4aba973b4e0f8a5681283cd17762c39c">voxels_size</a>.y = 512; <a class="code" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a4aba973b4e0f8a5681283cd17762c39c">voxels_size</a>.z = 512;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;            }          </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;          };</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    }</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  }</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;}</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/*PCL_TSDF_BUFFER_STRUCT_H_*/</span><span class="preprocessor"></span></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html">pcl::gpu::kinfuLS::tsdf_buffer</a></div><div class="ttdoc">Structure to handle buffer addresses</div><div class="ttdef"><b>Definition:</b> tsdf_buffer.h:52</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer_html_a0330778547cec0b4dd387be54cc394d3"><div class="ttname"><a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a0330778547cec0b4dd387be54cc394d3">pcl::gpu::kinfuLS::tsdf_buffer::tsdf_memory_start</a></div><div class="ttdeci">short2 * tsdf_memory_start</div><div class="ttdoc">Address of the first element of the TSDF volume in memory</div><div class="ttdef"><b>Definition:</b> tsdf_buffer.h:55</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer_html_a19fb957590124954134f953f2c317e75"><div class="ttname"><a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a19fb957590124954134f953f2c317e75">pcl::gpu::kinfuLS::tsdf_buffer::tsdf_memory_end</a></div><div class="ttdeci">short2 * tsdf_memory_end</div><div class="ttdoc">Address of the last element of the TSDF volume in memory</div><div class="ttdef"><b>Definition:</b> tsdf_buffer.h:57</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer_html_a1ab4b68ea7f165bfe965e5419ae16a57"><div class="ttname"><a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a1ab4b68ea7f165bfe965e5419ae16a57">pcl::gpu::kinfuLS::tsdf_buffer::tsdf_buffer</a></div><div class="ttdeci">tsdf_buffer()</div><div class="ttdoc">Default constructor</div><div class="ttdef"><b>Definition:</b> tsdf_buffer.h:72</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer_html_a45e39db0620e3613adf0e07ea47a3960"><div class="ttname"><a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a45e39db0620e3613adf0e07ea47a3960">pcl::gpu::kinfuLS::tsdf_buffer::tsdf_rolling_buff_origin</a></div><div class="ttdeci">short2 * tsdf_rolling_buff_origin</div><div class="ttdoc">Memory address of the origin of the rolling buffer. MUST BE UPDATED AFTER EACH SHIFT.</div><div class="ttdef"><b>Definition:</b> tsdf_buffer.h:59</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer_html_a4aba973b4e0f8a5681283cd17762c39c"><div class="ttname"><a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a4aba973b4e0f8a5681283cd17762c39c">pcl::gpu::kinfuLS::tsdf_buffer::voxels_size</a></div><div class="ttdeci">int3 voxels_size</div><div class="ttdoc">Number of voxels in the volume, per axis</div><div class="ttdef"><b>Definition:</b> tsdf_buffer.h:69</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer_html_a5e300a34d4220de4558ecf3bfa353306"><div class="ttname"><a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a5e300a34d4220de4558ecf3bfa353306">pcl::gpu::kinfuLS::tsdf_buffer::volume_size</a></div><div class="ttdeci">float3 volume_size</div><div class="ttdoc">Size of the volume, in meters.</div><div class="ttdef"><b>Definition:</b> tsdf_buffer.h:67</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer_html_a648311ec445d250adebc4053ba71515f"><div class="ttname"><a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a648311ec445d250adebc4053ba71515f">pcl::gpu::kinfuLS::tsdf_buffer::origin_GRID</a></div><div class="ttdeci">int3 origin_GRID</div><div class="ttdoc">Internal cube origin for rollign buffer.</div><div class="ttdef"><b>Definition:</b> tsdf_buffer.h:61</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer_html_a8644970214764c5569496ca0e0bb319e"><div class="ttname"><a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a8644970214764c5569496ca0e0bb319e">pcl::gpu::kinfuLS::tsdf_buffer::origin_metric</a></div><div class="ttdeci">float3 origin_metric</div><div class="ttdoc">Current metric origin of the cube, in world coordinates.</div><div class="ttdef"><b>Definition:</b> tsdf_buffer.h:65</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer_html_a8b71686f1e40d7801a3c60a4dd3e479f"><div class="ttname"><a href="structpcl_1_1gpu_1_1kinfu_l_s_1_1tsdf__buffer.html#a8b71686f1e40d7801a3c60a4dd3e479f">pcl::gpu::kinfuLS::tsdf_buffer::origin_GRID_global</a></div><div class="ttdeci">float3 origin_GRID_global</div><div class="ttdoc">Cube origin in world coordinates.</div><div class="ttdef"><b>Definition:</b> tsdf_buffer.h:63</div></div>
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